EncoderTest.java

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package com.qualcomm.ftcrobotcontroller.opmodes;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorController;

public class EncoderTest extends OpMode {

    DcMotor motorleft;
    DcMotor motorright;

    // Change these to fit your robot
    final static double GEAR_RATIO = 2;
    final static int WHEEL_DIAMETER = 4;

    double calcEncoderValue(double inches) {
        return (1440 * (inches/(Math.PI * WHEEL_DIAMETER)))/GEAR_RATIO;
    }


    @Override
    public void init() {

        motorleft = hardwareMap.dcMotor.get("motorleft");
        motorright = hardwareMap.dcMotor.get("motorright");
        motorleft.setDirection(DcMotor.Direction.REVERSE);

        motorleft.setMode(DcMotorController.RunMode.RESET_ENCODERS);
        motorright.setMode(DcMotorController.RunMode.RESET_ENCODERS);

    }

    @Override
    public void start() {

        motorleft.setTargetPosition((int) calcEncoderValue(12));
        motorright.setTargetPosition((int) calcEncoderValue(12));

        motorleft.setMode(DcMotorController.RunMode.RUN_TO_POSITION);
        motorright.setMode(DcMotorController.RunMode.RUN_TO_POSITION);

        motorleft.setPower(0.5);
        motorright.setPower(0.5);


    }

    @Override
    public void loop() {

        telemetry.addData("Left Position", motorleft.getCurrentPosition());
        telemetry.addData("Right Position", motorright.getCurrentPosition());

    }


    @Override
    public void stop() {

    }

}